engine-software/simulation/worlds/olympian.wbt

#VRML_SIM R2021a utf8
WorldInfo {
  coordinateSystem "NUE"
}
Viewpoint {
  orientation -0.7241113403564003 0.6708542148873753 0.16005433182235554 0.3286771770738909
  position 0.9187932527597619 1.807787251982618 3.3212186235849788
}
TexturedBackground {
}
TexturedBackgroundLight {
}
RectangleArena {
  floorSize 5 5
}
Robot {
  translation 0 0.03 0
  children [
    DEF Body Transform {
      translation 0 1.3 0
      children [
        Shape {
          appearance PBRAppearance {
            roughness 1
            metalness 0
          }
          geometry Box {
            size 0.5 0.7 0.25
          }
        }
      ]
    }
    BallJoint {
      jointParameters BallJointParameters {
        anchor 0 1.775 0
      }
      jointParameters2 JointParameters {
        axis 1 0 0
      }
      jointParameters3 JointParameters {
      }
      device [
        RotationalMotor {
          name "neck_pitch"
        }
      ]
      device2 [
        RotationalMotor {
          name "neck_yaw"
          minPosition -1.5707963267948966
          maxPosition 1.5707963267948966
        }
      ]
      device3 [
        RotationalMotor {
          name "neck_roll"
        }
      ]
      endPoint Solid {
        translation 0 1.775 0
        children [
          DEF head Shape {
            appearance PBRAppearance {
              roughness 1
              metalness 0
            }
            geometry Sphere {
              radius 0.125
            }
          }
        ]
        name "solid(2)"
        boundingObject USE head
        physics Physics {
        }
      }
    }
    HingeJoint {
      jointParameters HingeJointParameters {
        anchor -0.25 1.55 0
      }
      device [
        RotationalMotor {
          name "arm_pitch"
        }
      ]
      endPoint Solid {
        translation -0.25 1.55 0
        rotation 0 0 1 1.57
        children [
          DEF arm_joint Shape {
            appearance PBRAppearance {
              roughness 1
              metalness 0
            }
            geometry Cylinder {
              height 0.1
              radius 0.075
            }
          }
        ]
        boundingObject USE arm_joint
        physics Physics {
        }
      }
    }
    HingeJoint {
      jointParameters HingeJointParameters {
        axis 0 0 1
        anchor -0.375 1.55 0
      }
      device [
        RotationalMotor {
          name "arm_yaw"
        }
      ]
      endPoint Solid {
        translation -0.375 1.55 0
        rotation 1 0 0 1.57
        children [
          USE arm_joint
        ]
        name "solid(1)"
        boundingObject USE arm_joint
        physics Physics {
        }
      }
    }
  ]
  boundingObject USE Body
  physics Physics {
  }
  controller "olympian"
}